Scanning device



v Septvlo, 1946.: LANGSTRTH ETAL 2,407,305.

SGANNING DEVICE n Filed April io, 1942 2 sheets-Sheet i S ///////////////L l/ l sgj W y 5i [ml 'e5 83 el e7.

TH .m.- ATTQRNEY.

Sept V10 1946- H. LANGsTRoTH ET Al. 2,407,305

SCANNING DEV ICE Filed April l0, 1942 Sheets-Sheet 2 l I-u fili Patented Sept. 10, 1946 SCANNIN G DEVICE Hall Langstroth, Hempstead, and Fred C. Wallace, Flushing, N. Y., assignors to Sperry Gyroscope Company, Inc., Brooklyn, N. Y., a corporation of New York Application April 10, 1942, Serial No. 438,398

(Cl. Z50-11) 9 Claims. l

The present invention relates to scanning devices for scanning highly directive radiant energy radiation or receptivity patterns over apredetermined conical solid angle.

In many types of devices, such as object detectors, it is necessary to project or receive a sharply directional radiant energy radiation or receptivity pattern and to scan this pattern over a definite portion of a sphere, especially for the purpose of obtaining radiant energy reflections from anyl object which may be in the field of this radiation and for using such reflected radiation to indicate the presence and/or position of the reecting object. It is also desirable to interrupt this scanning motion when an object has been detected and to produce a conical motion having a very small apex angle, such as of the order of four degrees, for the purpose of giving a finer and more accurate indication of the position of the reflecting object.

In the present invention a beam of radiant energy,v such as a high frequency radio beam, is projected from a suitable highly directional radiator which is caused to oscillate slowly or nod about an axis substantially perpendicular to the direction of the beam. At the same time, this nod axis itself is rotated at a fairly high speed about a spin axis normal to the nod axis so that the beam in effect sweeps out a spiral pattern caused by the widening of the circles produced by the fast spin motion in response to the slow nod motion. Accordingly, the present device is enabled to scan in a spiral fashion a substantially conical portion of the sphere whose extent is determined by the angular limits of the nod oscillation. In addition, means are provided for substantially instantly changing this spiral scanning motion of the beam into a small conical scan by interrupting the nod motion near its zero position and retaining only the spinning motion. The apex angle of this conical scanning is obtained by ofi-setting the orientation of the beam from the axis of spin. Y

Accordingly, it is an object of the present invention to provide an improved apparatus for scanning a predetermined portiony of the sphere by a directional radiation or receptivity pattern.

It is another object of the present invention to provide improved devices for scanning a highly directional radiation or receptivity pattern in a spiral.

It is still another object of the present invention to provide improved devices for effecting spiral scanning and for converting such spiral scanning into xed conical scanning,

Further objects and advantages of the present invention will be apparent from the following specification and drawings.

Fig. 1 shows an elevation view partly in section of one embodiment of the present invention.

Fig. 2 shows an enlarged detailed vertical section view of a portion of Fig. 1.

Fig. 3 is a section view of the device of Fig. 1 taken along they line 3-3 thereof.

Fig. 4 is a View similar to Fig. 1 showing a modification of a .portion of the device of Fig. 1.

Fig. 5 shows a, detail side elevation of Fig. 4 viewed along the line 5-5.

Fig. 6 is an elevation view partly in section showing a modied construction for the device of Figs. 1 and 4.

Fig. 7 is a View similar to Fig. 5 showing a modied construction suitable for use in Figs. 4,/ 5, or 6.

Fig. 8 is an elevation view partly in section showing a further modification of the invention.

Fig. 9 is a detail view similar to Fig. 8 showing v still another modication.

Referring to Fig. 1 a suitable directional radiating or receiving arrangement for radiant energy, such as a metallic reector I preferably of paraboloidal form and containing a suitable antenna arrangement, is supported for rotation about an axis 3 as by means of suitable brackets 5 fixed to reflector I and pivotally mounted in a yoke l, which is integrally formed with or fastened to .a sleeve 9 whose axis II is perpendicular to axis 3. Axis 3 is termed the nod axis, and axis II the spin axis. Any suitable type of motive means, such as an electric motor, is connected to drive an input shaft I3, which has bearings mounted in a xed casing I5. Fastened to shaft I3 are two gears I1 and I9 which are thereby rotated at a fixed speed. Gear II engages a gear 2I fixed to or integrally formed on sleeve 9, and thereby :causes the reflector I to continuously rotate at a predetermined speed about spin axis I I. Engaging with gear I9, which is also continuously rotated from shaft I3, is a further gear 23 to which is connected a second sleeve 25 mounted rotatably and concentrically within sleevevS. Fastened to the end of sleeve 25 is a suitable cam 2l formed as a at disc containing a groove 29 eccentric to spin axis II and of a, .predetermined shape, chosen, as will 'be described, to provide a suitable type of nod motion for reiiector I.

Engaged in groove 29 of cam 21 is a suitable follower 3l. It is to be understood that follower 3l is actually located in a plane passing through spin axis H and Vertical to the plane of the draw- 3 ing of Fig. l, but is shown as in Fig. 1 for purposes of clarity. Cam follower 3| is restricted in its motion to translation only and hence, by the motion of cam 21 relative to yoke 1, is caused to move back and forth in a straight line perpendicular to the plane of the figure.

Fastenedto :cam follower 3| is a rack 33 which engages with a pinion 35 fixed to across shaft 31 as by a key 39. Key 39 and shaft 31 are adapted to move axially with respect to gear 35 but any rotational movement of gear 35 produces a corresponding rotational movement of shaft 31.V

Also fixed for rotational motion with shaft 31 as by key 39 is a gear 4|, which engages a gear sector 43 fixed to reflector by a suitable bracket 45.

As described above, yoke 1 and reflector Al are continuously spinning about spin axis l! at a predetermined speed. Cam follower 3| and rack 33 are also thereby spinning at this spin rate. The gear ratio between gears |9 and 23 is chosen to be slightly different from that between gears l1 and 2l, whereby cam 21 is driven at a rate slightly different from lthe rate of rotation of yoke 1 in spin. Th'is difference is the rate of nod, and produces translation of cam follower 3| and rack 33 with respect to yoke 1, and thereby, through gears 35 and 39 and gear sector 43, produces the nodding motion of reflector about nod axis 3. Since the rate of nod is much slower than the rate of spin it will be clear that the axis of symmetry of reector is caused to sweep out a series of widening or narrowing circles, the circles being generated by spinning about spin axis Il and the widening or narrowing being caused by nodding about nod axis 3. This in effect produces a spiral scanning of the axis of reflector over a predetermined solid angle.

If the system is to act as a radiator, the radiant energy to be radiated from reflector is introduced through a suitable wave guide 41. In view of the fact that the radiating arrangement is spinning rapidly about spin axis it is necessary to provide a suitable rotating joint 49 for coupling the stationary portion 41 of the wave guide to the rotating portion carried by yoke 1. Suitable types of rotating joint are shown in copending application Serial No. 429,494, for Directive antenna structure, filed February 4, 1942, in the names of R. J. Marshall, W. L. Barrow, and W. W. Mieher. Rotating wave guide 5| is thenbent around in arcs of suitable radius to extend coaxial with nod axis 3, as at 53. Here again, since the reflector oscillates about nod axis 3 with respect to mounting yoke 1, a further rotating joint indicated at 55 is provided be- .r

tween the section 53 carried by the yoke and section 51 of the wave guide carried by the reflector i.

Wave guide 51 terminates within reflector in any suitable well known type of termination, such as shown in copending application Serial No. 429,494. Preferably this termination is so adjusted that the orientation of the maximum directivity of the radiation pattern of reflector is at a slight angle to the axis of spin even in the position of Zero nod. This angle is chosen to be the apex angle of the conical scanning to be described below. The angle may be formed by selecting the proper zero nod condition, or by off-setting the antenna within reflector When conical scanning is desired in the arrangement already set forth it is merely necessary to interrupt the nodding motion and to fix th'e reflector at a predetermined position in 4 its nod cycle. One method of performing this operation is shown in Figs. 1 to 3.

Mounted on the nod axis 3 and fXed with respect to reflector is a suitably shaped cam or locking piece 59 which has its smallest radius, as at point 9|, at the position corresponding to zero nodof reflector l; that is, at the position where the axis of symmetry of reflector is most nearly coincident with the spin axis differing therefrom only by the apex angle defined above. From this point 3| the radius of cam increases smoothly in both directions to a maximum radius at its tips, as at 63.y

Cooperating with cam 59 is a roller detent B5 mounted on a suitable rod 31 which is normally held away from engagement with cam 59 against the force of a spring 99 by means of a latching arrangement comprising a latching member 1| and a projection 13 on the end of shaft 31 serving as a detent. As described above, shaft 31 is axially translatable.

1n the position shown in Fig. 1, roller 55 is held away from cam 59. However, upon translating shaft 31 to the left, its enlarged portion or detent 13 will move away from latch 1|, permitting the smaller diameter section 15 of shaft 31 to move within a slot 11 of latch 1l and thereby permitting spring 33 to urge roller 35 into engagement with cam 59. Spring 99 is chosen of such strength that if reflector is free to turn roller 65 engaging cam 59 will cause reflector to rotate until roller 35 engages the smallest radius portion Si of cam 59, and will thereafter hold reflector i centralized in this position. Reflector is made free to rotate in response to the action of cam 59 and roller E5 by motion of key 39 out of engagement with gear 35 upon axial motion of shaft 31. When this occurs, gear 35 is left free to rotate upon shaft 31 and can produce no motion of shaft 31, gear 4| and gear sector 43 attached to reflector Such axial motion of shaft 31 is provided by the energization of a suitable solenoid 11 fastened to the base or housing l5. Upon energization of solenoid 11 its magnetic armature plunger 19 is drawn upward against the tension of a spring 8|, thereby rotating arm 83 about a pivot 35 fixed to base l5. The far end of arm 83 carries a roller 81 which normally rolls within a, pair of guides 89 formed on a third sleeve 9| located co-ncentrically and slidably within sleeves 25 and 9. Thereby, energization of solenoid 11 will produce a downward motion of sleeve 9|, which spins at the same rate as yoke 1.

Pivoted to the upper end of sleeve 9| is a link arrangement 93 which, upon a downward motion of sleeve 9|, produces a leftward motion of shaft 31, as by means of an arm 95 engaging the end 91 of shaft 31. Shaft 31 is thereby moved to the left upon energization of solenoid 11, and

acts bo-th to disengage the nod driving mechanism of reflector and to disengage latch 1|, whereby the centralizing cam and roller arrangement 59-55 is actuated to centralize the reflector and maintain it with its axis of symmetry at a fixed scanning angle with respect t0 spin axis |I. Thereafter, so long as solenoid 11 is energized, reflector will be rotating only aboutits spin axis l, and the directional beam of radiant energy, which as described above, is off-set from the spin axis l, will generate a cone. Preferably Upon deenergi'zation of solenoid 11, spring 8| causes plunger 19 to withdraw from soleonoid 11, thereby moving sleeve r9| upward and releasing arm 95 from the end of shaft 31. A spring 99, having one end Xed to the spinning mount IUI and the other end rotatably engaging a collar |03 fixed to shaft 31, urges shaft 31 toward the right. In so doing, and before detent 13 on shaft 31 can enter its mating opening 14 in latch 1|, key 39 once more connects gear 35 to gear sector 43 through gear 4|, and starts the reflector nodding about nod axis 3. In so doing cam 59 now drives roller 65 and its rod 61 downward. As rod 61 reaches its lowest position, projection 'I3 of shaft 31 slips into its mating opening 14 and thereafter holds roller 65 away from engagement from cam 59 and the system resumes its spiral scanning as described above.

As an alternative construction, shaft 31 need not bemade to rotate. Thus, gears 35 and 4| may be coupled by key 39, which thereby rotates with respect to shaft 31. Key 39 is adapted to be dis engaged from gear 35 by actionof a shoulder on shaft 31, when shaft 31 is shifted axially in re- Sponse to actuation of solenoid 11, as already described.

It will be clear that by the apparatus just described the transition to conical scanning is made with the greatest accuracy, ksince the position of the reflector I during conical scanning is determined directly with respect to yoke 1, avoiding any inaccuracies arising from backlash, etc., which would appear yif reflector I were held at any other point of i-ts drive.

Suitable counterweights may be provided about both axes 3 and to provide both static and dynamic equilibrium during scanning.

Figs. 4 and 5 show a modied arrangement for A converting from spiral scanning to conical scanning. Here vcam 59, its roller 95, spring 69, latch 1| and detent 13 on shaft 31 are omitted. In their place a suitable member |95 having a notch e1 is fastened to reflector notch |91 corresponding to the zero nod position of reflector I in' which its axis of symmetry most nearly coincides with spin axis I. Formed upon the end of sleeve 9|, which is now arranged to be drawn upward upon energization of solenoid 11', is a projection |99 preferably rounded and adapted to cooperate with a preferably V-shaped notch |91 in member I 95. Therefore, upon energization of solenoid 11', sleeve '9| moves upward urging projection |09 against member |05. Projection |99 therefore slips into notch |91 when reflector reaches the proper position and serves to hold reflector I yin this position for conical scanning. At the same time, as projection |99 slips into notch |91, a key I I which serves to couple gear 23 to sleeve 25 during spiral scanning, is slid upward into a suitable, preferably annular, recess I I3 in sleeve 9 and disengages sleeve 25 from gear 23 whereby the motion of cam 21 and hence of the power drive for reflector in nod is removed. Thereafter reflector is maintained centralized and conical scanning is performed. If desired, recess IIS could be a simple notch matched to key |I| when projection |99 falls into notch |01.

Key is shown formed integrally with or fixed to the lower part l9| of sleeve 9|, which therefore rotatesat the same rate as sleeve 25 and cam 21. Since the upper part 9| of sleeve 9| must rotate at the same rate as yoke 1, a suitable rotatable joint 92 is inserted between the two parts of sleeve 9|.

The system shown in Figs. 4 and 5 has the advantage of greater simplicity over that of Fig. 1, since the use of cam 59 and its follower and the translation shaft 31 is eliminated. However, it has the disadvantage that the system must wait until the reflector I has reached its centralized position in its normal course of operation before reflector I may be centralized to perform conical scanning, whereas, in the system of Fig. 1, no matter what the position of reflector I is at the moment solenoid 'I1 Vis energized, the reflector is immediately disengaged from the nod drive and returned to its centralized position. i

Fig. 6 shows a modified form of construction which may replace the cam 21 and the nod-actuating apparatus in Figs 1 and 4. Here yoke 1 is actuated by sleeve 9 in the same manner as in Figs. l and 4.

Sleeve 25 actuates a cylindrical cam I2|, which replaces flat cam 21 in Figs. 1 and ll. Cam I2I is provided with a continuous groove |23 whose disposition on the cylindrical surface of cani |2| is so chosen as to provide a desired type of translational motion for its follower |25. Since cam I2I rotates relative to yoke 1, being driven at a different speed therefrom, follower |25 is translationally oscillated in a direction parallel to spin axis II. Accordingly, to provide nod motion it is merely necessary to couple cam follower |25 to the reflector I, as by a suitable arm |21 and a pivotally connected link |29.

The mechanism for interrupting the nod motion to provide conical scanning in Fig, 6 is il lustrated as being the same as in Fig. 4.

Fig. '1 shows a modification of a portion of Figs. e, 5, and 6. Thus, in place of member I having a notch |91 and cooperating with projection |99 in sleeve 9| as shown in Figs. 4, 5, and 6, member 95 may be provided in the form of a cam |95 similar in contour to cam 5-9 shown in Fig. 3, and projection |99 of sleeve 9| may terminate in a suitable roller I l similar to roller 65 in Fig. 3.

rlhe operation of this modification clearly combines the desirable features of Figs. 1 and 4. Thus the complicated latch and detent mechanism of .Y Fig. l is eleminated, while retaining the advantage of returning the parabola I to its zero nod position substantially instantaneously.

Fig. 8 shows a Vfurther modification of' the invention including a modified type of nod--pron ducing and nod-interrupting mechanism. Thus, driving shaft f3 rotates gear I9 which engages a further gear 23 connected as by a suitable pin or key to sleeve 25. Sleeve 25, however, instead of rotating a cam as in Figs. l, 4, and 6, rotates a carrier member I3I carrying floating pinions |33 illustrated in the figure as being two in number, but which may comprise any desired number. The pivots I 35 of pinions |33 are mounted equidistant from and parallel to the axis of ron tation of carrier I 3| which is chosen as spin axis II. At the same time, gear 23 rotates a gear |31 suitably fixed thereto. Gear |31 is illustrated as being an elliptical gear of the well known type and engages with a second elliptical gear |39.

As is well known, two elliptical gears pivoted at respective focal points spaced the proper distance apart will continuously mesh with one another and one will provide a varying speed output when the other is driven at a constant speed, which output speed cscillates between two limits respectively above and below the driving speed.

Accordingly, the output speed of shaft 4| carrying elliptical gear |39 will be alternately slower and faster than the speed of shaft 25 and carrier |3I, Also attached to shaft I4| is a pinion |43 engaging a further gear |45 fixed to a sleeve |41 at whose upper end is mounted an internal gear |49 meshing with pinions |33.

Floatingly mounted and concentric with sleeves 25 and |41 is a spur gear |5| engaging pinions |33. It will be clear that internal gear |59, carrier |3| and its pinions |33, and gear l5 provide one well known type of differential gear and accordingly, the rotation of gear |5| will be proportional to the difference in speeds of internal gear |f|| and carrier |3|.

As stated above, carrier |3| is rotated at constant speed while internal gear |159 is rotated at a continually varyingspeed. As a result', the output gear |5| will also be rotated at a continually varying speed which oscillates between two fixed limits. 'I'he various gear ratios are so chosen that the average speed of gear |5| will be the same as the speed of yoke 1, which is driven from shaft I3 by way of gear |1, gear 3|, and sleeve 9, as in the other iigures. In this way gear |5| alternately speeds up and slows down with respect to yoke "I and accordingly, it periodically reverses its direction of rotation with respect to yoke 1.

Fastened to gear |5| is a beveled gear |53 which' engages with a beveled gear sector |55 suitably fastened to the parabola lin this way, parabola is oscillated back and forth as the yoke 1 rotates, and there is thus produced the required nod motion and spin motion. Itis to be understood that the values of the gear ratios are chosen to provide a suitable rate of non-oscillation.

To provide a nod interruption, sleeve 9| is again provided controlled in a manner similar to that of Fig. 1 by a solenoid 11. The upper end of sleeve 9| carries a projecting collar |51 so that upon energization of solenoid 11 sleeve 5| moves downward and disengages gear |53 from gear sector |55, thereby interrupting the power drive for the nod motion.

At the same time, a projection |59 on a flange |5| fastened to the end of sleeve 9| bears down on beveled sector |55 and is adapted to fall into a notch in sector |55 when the proper orientation of parabola is obtained. These members are so arranged that the nod drive continues until projection |59 falls into its corresponding notch in sector |55, thereby simultaneously interrupting the power drive and stopping nod. In this way, parabola is locked into the proper position for conical scanning, as discussed above.

If desired, a suitable cam and roller arrangement similar to those of Fig. 3 or Fig. 1 may be provided to centraline the parabola I instantaneously upon energization of solenoid i1 and interruption of the nod power drive.

Fig. 9 shows a further modication similar in many respects to that of Fig. 8. Thus, drive shaft I3 spins yoke 1 by means of gear |1, gear 2|, and sleeve 9. Gear |9, also driven from drive shaft I3, actuates a gear 23 floatingly mounted about axis which thereby drives one member |1| of a suitable differential gear |13 of any well known type. A second member |15 of differential |13 is adapted to be oscillated as by means of a rack |15` engaging therewith and oscillated as by means of a crank drive arrangement |18 whose actuating shaft |15 is suitably driven.

As a result, the third member |8| of differential |13 is driven at a varying speed due to the combined rates of motion of constantly driven member |1| and oscillated member |15. Output member |5| of differential |13 is coupled to a suitable gear |45 fixed to a sleeve |41 and thereby actuates a further gear |82 Aalso fixed to sleeve |41. Gear |82 operates through a suitable train of gears |83 and |84 to actuate member |53 which is similar in function to member |53 shown in Fig. 8.

Member |53 carries bevel gear teeth which engage with bevel gear sector |55 fixed to the parabola as in Fig. 8. The gear ratios involved are so selected that bevel gear |53, which is driven at a varying rate of speed, has an average speed equal to that of spinning yoke 1. Accordingly, with respect to yoke 1, gear |53 alternately speeds up and slows down, and therefore reverses its direction of motion. In this manner the nod oscillation is produced.

The conversion from spiral scanning to conical scanning may be produced in any of the manners described with respect to the previous figures. Thus, if desired, a member |6| carrying a projection |55, similar to the arrangement of Fig.

8 may be provided to halt the nod motion at a particular point of the nod cycle as discussed with respect to Fig. 8. At the same time, the nod drive may be interrupted either in the manner shown in Fig. 8, or by an immobilizing member |15 of differential |13. This may be done in any suitable manner, as by disengaging rack |16 from gear |11, or by declutching the drive shaft |19 of this oscillating motion from its source of power.

Alternatively, gear |53 may be simultaneously disengaged from bevel gear |55, as by the reciprocation of member |6| and sleeve 9| iixed thereto. It will be clear that many other devices for producing this result may be readily evolved from the above description.

As many changes could be made in the above construction and many apparently widely different embodiments of this invention could be made without departing from the scope thereof, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

l What is claimed is:

l. A scanning device comprising a directive antenna mounted for rotation and oscillation about independent axes, drive means, means driven by said drive means for rotating said antenna including a first sleeve mounted to rotate about its longitudinal aXis, means driven by said drive means for oscillating said antenna including a second sleeve concentric with said rst sleeve and rotatably movable with respect thereto, normally ineffective means for holding said antenna in a fixed position with reference to its axis-of oscillation including a third sleeve concentric with said rst and second sleeves and reciprocatively movable with respect thereto, means for disabling said oscillating means, means for rendering said holding means effective, and means for effecting simultaneous operation of both said disabling and rendering means.

2. A Vscanning device as claimed in claim l, in which the reciprocatively movable part of said holding means is a detent and the part that cooperates with the same is a locking piece mounted to move with movement of the antenna about its axis of oscillation.

3. A scanning device as claimed in claim 1, in which said holding means is a detent and the part that cooperates with the same is a locking piece mounted directly on the antenna in a position to move with movement of the same about its axis of oscillation.

4. A scanning device as claimed in claim 1, in which the axis of rotation of the antenna is vertical and the axis of oscillation of the antenna is horizontal.

5. A scanning device as claimed in claim 1, in which said oscillating means includes a rotating cam plate having a translatably mounted follower therefor.

6. A scanning device comprising a directive antenna mounted for rotation and oscillation about independent axes, a differential having two input elements and a single output element, means for driving one of the input elements at a constant speed, means for driving the other input element of the diierential ata variable speed, and means for controlling the motion of the antenna about its axis of oscillation from the output element of the dierential.

'7. A scanning device comprising a directive antenna mounted for rotation and oscillation 20 about independent axes, a differential having tWo input elements and a single output element, means for driving one of the input elements at a constant speed, means for driving the other input element of the dierential at a variable speed, disengageable means for controlling the motion of the antenna about its axis of oscillation from the output element of the differential, normally ineffective means for interrupting motion of the antenna about its axis of oscillation, and means for simultaneously rendering said interrupting means effective and disengaging said disengageable means.

8. A scanning device comprising a directive antenna mounted to spin about one axis and nod about another axis, mechanism operable to spin said antenna including a rst sleeve, mechanism operable to nod said antenna including a second sleeve concentric to said first sleeve, and mechanism operable to interrupt the nodding motion of said antenna including a third sleeve concentric to said first and second sleeves.

9. A scanning device of the character claimed in claim 8, in which said nodding mechanism includes a rotating cam plate and a reciprocating cam follower.

HALL LANGSTROTH. FRED C. WALLACE. 

